/*
 * Copyright (C) 2023 ab_skywalker@163.com All Rights Reserved.
 *
 * SPDX-License-Identifier: MIT
 *
 * Permission is hereby granted, free of charge, to any person obtaining a copy of
 * this software and associated documentation files (the "Software"), to deal in
 * the Software without restriction, including without limitation the rights to
 * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
 * the Software, and to permit persons to whom the Software is furnished to do so,
 * subject to the following conditions:
 *
 * The above copyright notice and this permission notice shall be included in all
 * copies or substantial portions of the Software.
 *
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
 * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
 * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
 * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
 * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
 *
 */
#include "foc_para.h"

MotorWorkParaStruct MotorWorkPara;
MotorInherentParaStruct MotorInherentPara;

void motorParaInit(void)
{
    MotorWorkPara.LocateEnabled = false;
    MotorWorkPara.TargetAcc = 10;
    MotorWorkPara.AccJerk = 2;
    MotorInherentPara.PolePairs = 7;
}

inline void motorSetPhase(int16_t pahse)
{
    MotorWorkPara.TargetPhase = pahse;
}

inline void motorSetEncoterLocate(int8_t dir, int16_t pahse)
{
    MotorWorkPara.EncoderDir = dir;
    MotorWorkPara.EncoderOriginPos = pahse;
}